Transcale average consensus of directed multi-vehicle networks with fixed and switching topologies

This paper contributes to solving a class of so-called ‘transcale average consensus’ problems for directed networks of vehicles with single-integrator dynamics. It generalises the idea of average consensus by taking into account the measurement scale of every vehicle's information state. Using the nearest neighbour-interaction rules, distributed algorithms are presented which are shown with the ability to achieve the transcale average consensus for directed networks associated with balanced graphs. Such consensus results are applicable to networks in the presence of both fixed topology and switching topologies, which are also illustrated via simulation tests. Moreover, improved algorithms and results of consensus are given for directed networks associated with unbalanced graphs.